{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T22:46:25Z","timestamp":1768430785271,"version":"3.49.0"},"reference-count":39,"publisher":"SAGE Publications","issue":"2-3","license":[{"start":{"date-parts":[[2019,10,17]],"date-time":"2019-10-17T00:00:00Z","timestamp":1571270400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"MIT-HongKong Alliance"},{"name":"MIT Merrill Lynch Fellowship"},{"DOI":"10.13039\/100014600","name":"mathworks","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100014600","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:p> In this article, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal plane. We generalize its construction to a broader set of planar tasks, such as those where external forces including gravity influence the dynamics of pushing, or prehensile tasks, where there are complex frictional interactions between the gripper, object, and pusher. We show that the motion cone is defined by a set of low-curvature surfaces and approximate it by a polyhedral cone. We verify its validity with thousands of pushing experiments recorded with a motion tracking system. Motion cones abstract the algebra involved in the dynamics of frictional pushing and can be used for simulation, planning, and control. In this article, we demonstrate their use for the dynamic propagation step in a sampling-based planning algorithm. By constraining the planner to explore only through the interior of motion cones, we obtain manipulation strategies that are robust against bounded uncertainties in the frictional parameters of the system. Our planner generates in-hand manipulation trajectories that involve sequences of continuous pushes, from different sides of the object when necessary, with 5\u20131,000 times speed improvements to equivalent algorithms. <\/jats:p>","DOI":"10.1177\/0278364919880257","type":"journal-article","created":{"date-parts":[[2019,10,17]],"date-time":"2019-10-17T12:05:09Z","timestamp":1571313909000},"page":"163-182","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":58,"title":["Planar in-hand manipulation via motion cones"],"prefix":"10.1177","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9284-503X","authenticated-orcid":false,"given":"Nikhil","family":"Chavan-Dafle","sequence":"first","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"given":"Rachel","family":"Holladay","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"given":"Alberto","family":"Rodriguez","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA, USA"}]}],"member":"179","published-online":{"date-parts":[[2019,10,17]]},"reference":[{"key":"bibr1-0278364919880257","first-page":"1469","volume":"2","author":"Brock O","year":"2001","journal-title":"IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"bibr2-0278364919880257","author":"Caron S","year":"2011","journal-title":"Robotics: Science and Systems (RSS)"},{"key":"bibr3-0278364919880257","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.058"},{"key":"bibr4-0278364919880257","author":"Chavan-Dafle N","year":"2017","journal-title":"International Symposium on Robotics Research"},{"key":"bibr5-0278364919880257","author":"Chavan-Dafle N","year":"2018","journal-title":"IEEE International Conference on Automation Science and Engineering (CASE)"},{"key":"bibr6-0278364919880257","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461243"},{"key":"bibr7-0278364919880257","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2487881"},{"key":"bibr8-0278364919880257","first-page":"2123","author":"Dogar M","year":"2010","journal-title":"IEEE International Conference on Intelligent Robots and Systems"},{"key":"bibr9-0278364919880257","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2011.VII.009"},{"key":"bibr10-0278364919880257","first-page":"163","volume":"1","author":"Erdmann M","year":"1993","journal-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"bibr11-0278364919880257","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300306"},{"key":"bibr12-0278364919880257","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700502"},{"key":"bibr13-0278364919880257","volume-title":"Planar Sliding of a Rigid Body with Dry Friction: Limit Surfaces and Dynamics of Motion","author":"Goyal S","year":"1989"},{"key":"bibr14-0278364919880257","author":"Hogan F","year":"2016","journal-title":"12th International Workshop on the Algorithmic Foundations of Robotics"},{"key":"bibr15-0278364919880257","first-page":"3675","author":"Holladay A","year":"2015","journal-title":"IEEE International Conference on Robotics and Automation"},{"issue":"3","key":"bibr16-0278364919880257","first-page":"320","volume":"113","author":"Hong LS","year":"1991","journal-title":"Journal of Manufacturing Science and Engineering"},{"key":"bibr17-0278364919880257","unstructured":"Hou Y (2017) Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces. 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